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<div class="title">JPosInitializer.h</div>  </div>
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<a href="../../d1/df4/_j_pos_initializer_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef JPOS_INITIALIZER</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define JPOS_INITIALIZER</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;</div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="../../d0/d41/_leg_controller_8h.html">Controllers/LegController.h</a>&gt;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="../../d3/dc7/_quadruped_8h.html">Dynamics/Quadruped.h</a>&gt;</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="../../db/d61/_b_spline_basic_8h.html">Utilities/BSplineBasic.h</a>&gt;</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00009"></a><span class="lineno"><a class="line" href="../../d6/d0e/class_j_pos_initializer.html">    9</a></span>&#160;<span class="keyword">class </span><a class="code" href="../../d6/d0e/class_j_pos_initializer.html">JPosInitializer</a> {</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; <span class="keyword">public</span>:</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;  <a class="code" href="../../d6/d0e/class_j_pos_initializer.html#a51ab4502fa69607abe7cab9d17d14128">JPosInitializer</a>(T end_time);</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;  <a class="code" href="../../d6/d0e/class_j_pos_initializer.html#a617928fa79008cfda85a0583a712de4c">~JPosInitializer</a>();</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="../../d6/d0e/class_j_pos_initializer.html#a8d46811551914913c7799360daebeee2">IsInitialized</a>(<a class="code" href="../../d0/d96/class_leg_controller.html">LegController&lt;T&gt;</a>*);</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160; <span class="keyword">private</span>:</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d6/d0e/class_j_pos_initializer.html#a853af68992a20da6d452bcee412ccbc8">_UpdateParam</a>();</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d6/d0e/class_j_pos_initializer.html#a3f27c92c08ee18afa2db91128fd229e1">_UpdateInitial</a>(<span class="keyword">const</span> <a class="code" href="../../d0/d96/class_leg_controller.html">LegController&lt;T&gt;</a>* ctrl);</div><div class="line"><a name="l00019"></a><span class="lineno"><a class="line" href="../../d6/d0e/class_j_pos_initializer.html#a0ebccb138dd589919143d418835b762d">   19</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="../../d6/d0e/class_j_pos_initializer.html#a0ebccb138dd589919143d418835b762d">_b_first_visit</a>;</div><div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="../../d6/d0e/class_j_pos_initializer.html#aff4116652461f55098383ba71f2b4188">   20</a></span>&#160;  T <a class="code" href="../../d6/d0e/class_j_pos_initializer.html#aff4116652461f55098383ba71f2b4188">_end_time</a>;</div><div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="../../d6/d0e/class_j_pos_initializer.html#acb7de85cd7f2f241822455c0e530530d">   21</a></span>&#160;  T <a class="code" href="../../d6/d0e/class_j_pos_initializer.html#acb7de85cd7f2f241822455c0e530530d">_curr_time</a>;</div><div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="../../d6/d0e/class_j_pos_initializer.html#a2445d48d04229da67316ddde37e41ee9">   22</a></span>&#160;  T <a class="code" href="../../d6/d0e/class_j_pos_initializer.html#a2445d48d04229da67316ddde37e41ee9">_dt</a>;</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;</div><div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="../../d6/d0e/class_j_pos_initializer.html#a43abc174a91f60d46c3ed7b5119cd593">   24</a></span>&#160;  std::vector&lt;T&gt; <a class="code" href="../../d6/d0e/class_j_pos_initializer.html#a43abc174a91f60d46c3ed7b5119cd593">_ini_jpos</a>;</div><div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="../../d6/d0e/class_j_pos_initializer.html#a6952e0b91040cf807100ed386a0514d0">   25</a></span>&#160;  std::vector&lt;T&gt; <a class="code" href="../../d6/d0e/class_j_pos_initializer.html#a6952e0b91040cf807100ed386a0514d0">_target_jpos</a>;</div><div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="../../d6/d0e/class_j_pos_initializer.html#a68104730552365591802e6b92cddefef">   26</a></span>&#160;  std::vector&lt;T&gt; <a class="code" href="../../d6/d0e/class_j_pos_initializer.html#a68104730552365591802e6b92cddefef">_mid_jpos</a>;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;</div><div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="../../d6/d0e/class_j_pos_initializer.html#a4ce42ed71d5ecf8f20a52d3f814fcfd3">   28</a></span>&#160;  <a class="code" href="../../d9/da0/class_b_s___basic.html">BS_Basic&lt;T, cheetah::num_act_joint, 3, 1, 2, 2&gt;</a> <a class="code" href="../../d6/d0e/class_j_pos_initializer.html#a4ce42ed71d5ecf8f20a52d3f814fcfd3">_jpos_trj</a>;</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;};</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="class_b_s___basic_html"><div class="ttname"><a href="../../d9/da0/class_b_s___basic.html">BS_Basic&lt; T, cheetah::num_act_joint, 3, 1, 2, 2 &gt;</a></div></div>
<div class="ttc" id="class_j_pos_initializer_html_a8d46811551914913c7799360daebeee2"><div class="ttname"><a href="../../d6/d0e/class_j_pos_initializer.html#a8d46811551914913c7799360daebeee2">JPosInitializer::IsInitialized</a></div><div class="ttdeci">bool IsInitialized(LegController&lt; T &gt; *)</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d85/_j_pos_initializer_8cpp_source.html#l00020">JPosInitializer.cpp:20</a></div></div>
<div class="ttc" id="class_j_pos_initializer_html_a43abc174a91f60d46c3ed7b5119cd593"><div class="ttname"><a href="../../d6/d0e/class_j_pos_initializer.html#a43abc174a91f60d46c3ed7b5119cd593">JPosInitializer::_ini_jpos</a></div><div class="ttdeci">std::vector&lt; T &gt; _ini_jpos</div><div class="ttdef"><b>Definition:</b> <a href="../../d1/df4/_j_pos_initializer_8h_source.html#l00024">JPosInitializer.h:24</a></div></div>
<div class="ttc" id="class_j_pos_initializer_html_a617928fa79008cfda85a0583a712de4c"><div class="ttname"><a href="../../d6/d0e/class_j_pos_initializer.html#a617928fa79008cfda85a0583a712de4c">JPosInitializer::~JPosInitializer</a></div><div class="ttdeci">~JPosInitializer()</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d85/_j_pos_initializer_8cpp_source.html#l00017">JPosInitializer.cpp:17</a></div></div>
<div class="ttc" id="_quadruped_8h_html"><div class="ttname"><a href="../../d3/dc7/_quadruped_8h.html">Quadruped.h</a></div><div class="ttdoc">Data structure containing parameters for quadruped robot. </div></div>
<div class="ttc" id="class_j_pos_initializer_html_a4ce42ed71d5ecf8f20a52d3f814fcfd3"><div class="ttname"><a href="../../d6/d0e/class_j_pos_initializer.html#a4ce42ed71d5ecf8f20a52d3f814fcfd3">JPosInitializer::_jpos_trj</a></div><div class="ttdeci">BS_Basic&lt; T, cheetah::num_act_joint, 3, 1, 2, 2 &gt; _jpos_trj</div><div class="ttdef"><b>Definition:</b> <a href="../../d1/df4/_j_pos_initializer_8h_source.html#l00028">JPosInitializer.h:28</a></div></div>
<div class="ttc" id="_b_spline_basic_8h_html"><div class="ttname"><a href="../../db/d61/_b_spline_basic_8h.html">BSplineBasic.h</a></div></div>
<div class="ttc" id="class_j_pos_initializer_html_acb7de85cd7f2f241822455c0e530530d"><div class="ttname"><a href="../../d6/d0e/class_j_pos_initializer.html#acb7de85cd7f2f241822455c0e530530d">JPosInitializer::_curr_time</a></div><div class="ttdeci">T _curr_time</div><div class="ttdef"><b>Definition:</b> <a href="../../d1/df4/_j_pos_initializer_8h_source.html#l00021">JPosInitializer.h:21</a></div></div>
<div class="ttc" id="class_leg_controller_html"><div class="ttname"><a href="../../d0/d96/class_leg_controller.html">LegController</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d41/_leg_controller_8h_source.html#l00049">LegController.h:49</a></div></div>
<div class="ttc" id="class_j_pos_initializer_html_a853af68992a20da6d452bcee412ccbc8"><div class="ttname"><a href="../../d6/d0e/class_j_pos_initializer.html#a853af68992a20da6d452bcee412ccbc8">JPosInitializer::_UpdateParam</a></div><div class="ttdeci">void _UpdateParam()</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d85/_j_pos_initializer_8cpp_source.html#l00077">JPosInitializer.cpp:77</a></div></div>
<div class="ttc" id="class_j_pos_initializer_html_a0ebccb138dd589919143d418835b762d"><div class="ttname"><a href="../../d6/d0e/class_j_pos_initializer.html#a0ebccb138dd589919143d418835b762d">JPosInitializer::_b_first_visit</a></div><div class="ttdeci">bool _b_first_visit</div><div class="ttdef"><b>Definition:</b> <a href="../../d1/df4/_j_pos_initializer_8h_source.html#l00019">JPosInitializer.h:19</a></div></div>
<div class="ttc" id="class_j_pos_initializer_html_a51ab4502fa69607abe7cab9d17d14128"><div class="ttname"><a href="../../d6/d0e/class_j_pos_initializer.html#a51ab4502fa69607abe7cab9d17d14128">JPosInitializer::JPosInitializer</a></div><div class="ttdeci">JPosInitializer(T end_time)</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d85/_j_pos_initializer_8cpp_source.html#l00007">JPosInitializer.cpp:7</a></div></div>
<div class="ttc" id="class_j_pos_initializer_html_aff4116652461f55098383ba71f2b4188"><div class="ttname"><a href="../../d6/d0e/class_j_pos_initializer.html#aff4116652461f55098383ba71f2b4188">JPosInitializer::_end_time</a></div><div class="ttdeci">T _end_time</div><div class="ttdef"><b>Definition:</b> <a href="../../d1/df4/_j_pos_initializer_8h_source.html#l00020">JPosInitializer.h:20</a></div></div>
<div class="ttc" id="class_j_pos_initializer_html_a6952e0b91040cf807100ed386a0514d0"><div class="ttname"><a href="../../d6/d0e/class_j_pos_initializer.html#a6952e0b91040cf807100ed386a0514d0">JPosInitializer::_target_jpos</a></div><div class="ttdeci">std::vector&lt; T &gt; _target_jpos</div><div class="ttdef"><b>Definition:</b> <a href="../../d1/df4/_j_pos_initializer_8h_source.html#l00025">JPosInitializer.h:25</a></div></div>
<div class="ttc" id="_leg_controller_8h_html"><div class="ttname"><a href="../../d0/d41/_leg_controller_8h.html">LegController.h</a></div><div class="ttdoc">Common Leg Control Interface and Leg Control Algorithms. </div></div>
<div class="ttc" id="class_j_pos_initializer_html"><div class="ttname"><a href="../../d6/d0e/class_j_pos_initializer.html">JPosInitializer</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d1/df4/_j_pos_initializer_8h_source.html#l00009">JPosInitializer.h:9</a></div></div>
<div class="ttc" id="class_j_pos_initializer_html_a2445d48d04229da67316ddde37e41ee9"><div class="ttname"><a href="../../d6/d0e/class_j_pos_initializer.html#a2445d48d04229da67316ddde37e41ee9">JPosInitializer::_dt</a></div><div class="ttdeci">T _dt</div><div class="ttdef"><b>Definition:</b> <a href="../../d1/df4/_j_pos_initializer_8h_source.html#l00022">JPosInitializer.h:22</a></div></div>
<div class="ttc" id="class_j_pos_initializer_html_a68104730552365591802e6b92cddefef"><div class="ttname"><a href="../../d6/d0e/class_j_pos_initializer.html#a68104730552365591802e6b92cddefef">JPosInitializer::_mid_jpos</a></div><div class="ttdeci">std::vector&lt; T &gt; _mid_jpos</div><div class="ttdef"><b>Definition:</b> <a href="../../d1/df4/_j_pos_initializer_8h_source.html#l00026">JPosInitializer.h:26</a></div></div>
<div class="ttc" id="class_j_pos_initializer_html_a3f27c92c08ee18afa2db91128fd229e1"><div class="ttname"><a href="../../d6/d0e/class_j_pos_initializer.html#a3f27c92c08ee18afa2db91128fd229e1">JPosInitializer::_UpdateInitial</a></div><div class="ttdeci">void _UpdateInitial(const LegController&lt; T &gt; *ctrl)</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d85/_j_pos_initializer_8cpp_source.html#l00048">JPosInitializer.cpp:48</a></div></div>
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